| Research on Steering and Yaw Coordination Control Strategy of Distributed Drive Electric Vehicles Considering Safety and Energy Efficiency Based on Nash Game |
| Xuanyao Wang1,2, Enze Tao1 |
1School of Mechanical and Electrical Engineering, Anhui University of Science and Technology, Huainan, 232000, Anhui, China
2School of New Energy and Intelligent Networked Vehicles, Anhui University of Science and Technology, Hefei, 231100, China |
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Received: April 8, 2025; Revised: May 12, 2025 Accepted: May 26, 2025. Published online: July 18, 2025. |
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| ABSTRACT |
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To improve trajectory tracking accuracy, energy efficiency, and driving safety in distributed drive intelligent vehicles, this study utilizes a volumetric Kalman filter for estimating tire lateral force and implements real-time correction of tire cornering stiffness. This method enhances the vehicle's ability to adapt to nonlinear forces and improves controller precision. The upper layer incorporates Nash game theory, where the vehicle angle and yaw moment act as opposing players. Furthermore, a weight coefficient for the fuzzy control coordination game is employed to ensure precise trajectory tracking and driving safety under various conditions. The lower layer formulates a safety-energy efficiency coordinated control strategy that considers multiple constraints, taking into account road adhesion limits and motor peak torque limits. An optimal torque distribution model is established based on dynamic programming to ensure energy distribution within physical constraints. To validate the strategy, a CarSim/Simulink joint simulation platform is utilized to conduct tests under double lane change and serpentine conditions. The results indicate that the proposed distributed drive electric vehicle steering and yaw coordination control system, utilizing a Nash game framework to prioritize safety and energy efficiency, significantly improves vehicle trajectory tracking accuracy while enhancing energy efficiency and driving safety. |
| Key Words:
Distributed drive vehicles · Nash game · Stiffness correction · Coordinated control · Energy efficiency |
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Corresponding Author.
Xuanyao Wang , Email. 
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